In-space grasping system and method of operation
A coupling system and a method of coupling two objects. The coupling system including a passive unit having a first side and an opposing second side, the first side having a recess with a lip. The coupling system further having an active unit that includes an actuator, a cam mechanism and a plurality of capture rollers. The cam mechanism is operably coupled to the actuator, the cam mechanism being movable from a stowed position to a deployed position. The plurality of capture rollers is operably coupled to the cam mechanism to move from a first position to a second position in response to the cam mechanism moving from the stowed position to the deployed position, the plurality of capture rollers engaging the lip in the second position when the passive unit is in contact with the active unit.
1. A coupling system comprising:
a passive unit having a first side and an opposing second side, the first side having a recess with a lip; and
an active unit comprising:
an actuator;
a cam mechanism operably coupled to the actuator, the cam mechanism being movable from a stowed position to a deployed position; and
a plurality of capture rollers operably coupled to the cam mechanism to move from a first position to a second position in response to the cam mechanism moving from the stowed position to the deployed position, the plurality of capture rollers engaging the recess to align the passive unit as the plurality of capture rollers move from the first position and second position engaging the lip in the second position and moving the passive unit into contact with the active unit.
2. The coupling system of claim 1 , further comprising a launch lock device operably coupled to lock the cam mechanism in the stowed position when in an unactuated configuration.
3. The coupling system of claim 2 , wherein the launch lock disengages from the cam mechanism when in an actuated configuration.
4. The coupling system of claim 1 , wherein the plurality of capture rollers and the passive unit are configured to allow engagement of the capture rollers with the lip when the passive unit is positioned within a capture envelope.
5. A coupling system comprising:
a passive unit having a first side and an opposing second side, the first side having a recess with a lip; and
an active unit comprising:
an actuator;
a cam mechanism operably coupled to the actuator, the cam mechanism being movable from a stowed position to a deployed position, the cam mechanism comprising:
a gear operably coupled to the actuator,
at least one first lead-screw operably coupled to the gear,
an elevator plate operably and movably coupled to the at least one lead-screw, the elevator plate having at least one first cam slot, and
at least one roller assembly operably and movably coupled to the at least one first cam slot, the at least one roller assembly being movable from an entry position to a docked position in response to activation of the actuator, the plurality of capture rollers being coupled to the at least one roller assembly; and
plurality of capture rollers operably coupled to the cam mechanism to move from a first position to a second position in response to the cam mechanism moving from the stowed position to the deployed position, the plurality of capture rollers engaging the lip in the second position when the passive unit is in contact with the active unit.
6. The coupling system of claim 5 , wherein the cam mechanism further comprises a static cam plate having at least one second cam slot, the at least one roller assembly being operably coupled to the at least one second cam slot.
7. The coupling assembly of claim 6 , wherein the at least one roller assembly includes a preload cross-shaft, the preload cross-shaft being operably and movably coupled to the at least one first cam slot and the at least one second cam slot, the preload cross-shaft cooperates with the at least one first cam slot to move the plurality of rollers in a first direction and cooperates with the at least one second cam slot to move the plurality of rollers in a second direction, the plurality of capture rollers being positioned to engage the passive unit when in the docked position.
8. The coupling assembly of claim 5 , wherein the cam assembly further comprises a central lead screw movably coupled to the gear to move from a retracted position to a connected position as the cam mechanism moved from a stowed position to a deployed position.
9. The coupling assembly of claim 8 , wherein the movement of the central lead screw from the retracted position to the connected position is co-axial with an axis of rotation of the gear.
10. The coupling assembly of claim 9 , further comprising:
a first electrical connector coupled to the central lead screw; and
a second electrical connector coupled to the passive member.
11. The coupling assembly of claim 10 , wherein the first electrical connector is coupled to the second electrical connector when the central lead screw is in the connected position and the passive unit is in the docked position.
12. The coupling assembly of claim 1 , further comprising:
a housing, the cam mechanism being disposed within the housing, the housing having a recess on one end, the plurality of capture rollers being at least partially disposed within the recess; and
a plurality of ground rollers disposed about the periphery of the recess.
13. The coupling assembly of claim 12 , wherein the plurality of capture rollers includes a first pair of capture rollers and a second pair of capture rollers, the first pair of capture rollers being coupled together by a first slide plate and the second pair of capture rollers being coupled together by a second slide plate.
14. The coupling assembly of claim 1 , wherein the actuator is an electric motor.
15. The coupling assembly of claim 1 , wherein the actuator is a mechanical link.
16. A method of coupling a passive unit to an active unit, the method comprising:
moving the passive unit towards the active unit, the passive unit having a recess on one face and a plurality of lips disposed within the recess;
positioning at least a portion of the passive unit within a capture envelope adjacent to at least one of a plurality of capture rollers on the active unit;
activating a cam mechanism in the active unit to move the plurality of capture rollers in a first direction from a first position to a second position;
engaging the recess with the plurality of capture rollers to align the passive unit as the plurality of capture rollers move from the first position and second position;
engaging the plurality of lips with the plurality of rollers as the plurality of rollers move from the first position to the second position; and
move the plurality of capture rollers in a second direction to move the passive unit into a docked position, the second direction being perpendicular to the first direction.
17. The method of claim 16 , further comprising:
fixing the cam mechanism in a stowed position with a launch lock device; and
activating the launch lock device prior to moving the cam mechanism from the stowed position to a deployed position.
18. The method of claim 16 , wherein the activating of the cam mechanism includes moving the cam mechanism from stowed position to a deployed position.
19. The method of claim 17 , wherein the moving of the cam mechanism from the stowed position to the deployed position further comprises:
rotating a gear with an actuator;
rotating at least one first lead-screw with the gear;
moving an elevator plate along the lead-screw in response to the rotation of the lead-screw; and
causing the plurality of capture rollers to move in the first direction in response to movement of the elevator plate.
20. A method of coupling a passive unit to an active unit, the method comprising:
moving the passive unit towards the active unit, the passive unit having a recess on one face and a plurality of lips disposed within the recess;
positioning at least a portion of the passive unit within a capture envelope adjacent to at least one of a plurality of capture rollers on the active unit;
activating a cam mechanism in the active unit to move the plurality of capture rollers in a first direction from a first position to a second position;
engaging the recess to align the passive unit as the plurality of capture rollers move from the first position and second position;
engaging the plurality of lips with the plurality of rollers as the plurality of rollers move from the first position to the second position;
move the plurality of capture rollers in a second direction to move the passive unit into a docked position, the second direction being perpendicular to the first direction;
fixing the cam mechanism in a stowed position with a launch lock device; and
activating the launch lock device prior to moving the cam mechanism from the stowed position to a deployed position, wherein the moving of the cam mechanism from the stowed position to the deployed position further comprises:
rotating a gear with an actuator,
rotating at least one first lead-screw with the gear,
moving an elevator plate along the lead-screw in response to the rotation of the lead-screw, and
causing the plurality of capture rollers to move in the first direction in response to movement of the elevator plate,
wherein the causing of the plurality of capture rollers to move in the first direction further includes moving a roller assembly along a first cam slot in the elevator plate, and
wherein the movement of the plurality of capture rollers in the second direction further includes moving the roller assembly along a second cam slot in a static cam plate.
21. The method of claim 20 , further comprising:
rotating a central lead screw with the gear; and
axially moving a first connector in a third direction in response to the rotation of the central lead screw.
22. The method of claim 21 , further comprising connecting the first connector to a second connector when the cam mechanism is in the deployed position and the passive unit is in the docked position.